The following software are used by the Crazyflie development environment toolchain:

• GNU Tools for ARM Embedded Processors
• openOCD

These are available for both Windows and Linux.

In order to fix the permissions so it's possible to use the JTAG and USB Radio without being root do the following steps.

sudo usermod -a -G plugdev username

Note that you will need to logout and in again for the added group to take effect.

Find the JTAG vendor/product ID by running lsusb.

Create a file named /etc/udev/rules.d/99-jtagkey.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="cff8", MODE="0664", GROUP="plugdev"

Create a file named /etc/udev/rules.d/99-crazyradio.rules and add the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="0101", MODE="0664", GROUP="plugdev"

Most of the software that you will need is now available from the repositories so just run the following command to install it:

sudo apt-get -y install mercurial python2.7 python-usb python-pygame python-qt4 qt4-designer openocd build-essential

Run the following to download, unpack and copy the ARM Embedded toolchain:

wget https://launchpad.net/gcc-arm-embedded/4.7/4.7-2013-q1-update/+download/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
tar xjf gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
mkdir ~/bin
mv gcc-arm-none-eabi-4_7-2013q1 ~/bin/gcc-arm-none-eabi

And then also add the binaries to your path: In order for the build system to find the toolchain when building the firmware it has to be added to the path:

echo -e "\nPATH=\$PATH:$HOME/bin/gcc-arm-none-eabi/bin" >> ~/.bashrc
source ~/.bashrc

TBD

The Crazyflie project is based on a Makefile. A couple of target are useful:

crazyflie$ make         # Make copter firmware
crazyflie$ make V=1     # Make copter firmware and shows the full compilation commands
crazyflie$ make CLOAD=1 # make copter firmware to be used with the bootloader
crazyflie$ make cload   # Flash the firmware using the radio bootloader
crazyflie$ make flash   # Flash firmware using openOCD and the jtagKey
crazyflie$ make reset   # Reset the copter using openOCD
crazyflie$ make openocd # Launch openOCD and connect it to the copter (can then be used via the telnet interface and/or GDB)

A couple of variables can be set on the command line or shell environment to configure the build process:

It is possible to create a file config.mk to set these variables in a more permanent manner, this file is imported at the beginning of Makefile.

The openOCD targets do not make the copter code, hence the compilation must be called first with make and then make flash can be called.

It is possible to flash with openOCD/jtag a bootloader version of the copter as long as the bootloader is present at the beginning of the flash. However this could interfere with GDB.

It is also possible to work with the copter code from within Eclipse.

The copter can be loaded with a radio bootloader contained in the crazyloader folder. The dev environment is very similar to the copter one:

crazyloader$ make       # Make the bootoader
crazyloader$ make flash # Flash the bootloader with openOCD